An Improved Gaussian Mixture CKF Algorithm under Non-Gaussian Observation Noise

Table 3

Comparisons of average RMSE and running time of different algorithms.

	position (m)	position (m)	velocity (m/s)	velocity (m/s)	Running time (ms)
IMMCKF	0.6713	0.6909	0.4741	0.4930	222
IMMGMCKF	0.1074	0.1238	0.0909	0.0920	315
IGMCKF	0.0983	0.0895	0.0463	0.0462	182